US9580961B2 - Utility vehicle with monitoring system for monitoring the position of the vehicle - Google Patents

Utility vehicle with monitoring system for monitoring the position of the vehicle Download PDF

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Publication number
US9580961B2
US9580961B2 US14/435,888 US201314435888A US9580961B2 US 9580961 B2 US9580961 B2 US 9580961B2 US 201314435888 A US201314435888 A US 201314435888A US 9580961 B2 US9580961 B2 US 9580961B2
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Prior art keywords
supports
vehicle
visual
support
cameras
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US14/435,888
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US20150330146A1 (en
Inventor
Jens Kraemer
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Iveco Magirus AG
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Iveco Magirus AG
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Assigned to IVECO MAGIRUS AG reassignment IVECO MAGIRUS AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Kraemer, Jens
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    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/34—Indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
    • E06C5/04—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/38—Devices for blocking the springs of the vehicle; Devices for supporting the undercarriage directly from the ground

Definitions

  • the present invention relates to a utility vehicle, in particular to a firefighting vehicle, comprising an aerial apparatus like a turnable ladder and/or an aerial rescue platform according to the preamble of claim 1 .
  • vehicles of the above kind usually comprise safety means to provide a solid stand of the vehicle on the ground when the aerial apparatus is extracted and moved. It is of particular importance to avoid any tilting of the vehicle when the end of the aerial apparatus is moved into a lateral position projecting from the vehicle body.
  • safety means to provide a solid stand of the vehicle on the ground when the aerial apparatus is extracted and moved. It is of particular importance to avoid any tilting of the vehicle when the end of the aerial apparatus is moved into a lateral position projecting from the vehicle body.
  • the present invention shall also be applicable to vehicles equipped with aerial rescue platforms that can be lifted and turned.
  • rescue vehicles can also be applied to any other utility vehicles equipped with cranes or the like that may cantilever to one side of the vehicle.
  • lateral ground supports have become very common that are lifted from the ground in a retracted non-use position and can be extracted into an operating position in which the ends of the supports rest on the ground.
  • these lateral ground supports can be represented by outriggers that can be retracted or extended in a mainly horizontal direction so that their ends are located in a distance from the vehicle body in the operating position.
  • the ends of the outriggers can be equipped with jacks to strut against the ground.
  • Another possibility is to tilt the outrigger slightly downwards so that its end touches the ground. If such a touchdown of outriggers is provided at both sides of the vehicle, the support area for a vehicle is widened, giving the vehicle a secure stand.
  • a third possibility is to locate the support more or less directly a the side of the vehicle body, e.g. in form of a jack as described above, so that the support is just lifted during non-use and it is lowered in its operating position.
  • the terms “retracted” or “extracted” with respect to the ground support shall not limit its operation to any spacial direction, i.e. horizontal or vertical, but shall just describe that the support is movable between two different working positions at the lateral side of the vehicle body.
  • the utility vehicle according to the present invention is equipped with a monitoring system for monitoring the position of the vehicle including the ground supports.
  • This monitoring system comprises surveillance cameras positioned at the sides of the vehicle. Each camera is allocated to one support to monitor the ground area in which the end of the support will rest in its operating position. That is, the support area of the support is comprised by the visual field of the respective camera. Each camera is provided to take a real-time image of the respective ground area. For visualizing this image, a visual display is provided.
  • the visual display presents the images of all cameras at the same time in different screen areas, superimposed by visual markings representing expected operating positions of the supports. This means that not only the different ground areas monitored by the cameras are visible on the display but also the final positions of the ground supports before they are actually moved into these positions. It is therefore possible to recognize the danger of a collision with an object, or an area of the ground that is not suitable for positioning the supports, before the supports are actually positioned.
  • the operator looking at the display is given an overview over all areas in which the supports must be placed. For this reason the operator does not need the help of another person that overviews the positions of the supports directly.
  • the monitoring system comprises a control unit for operating the visual display that is provided to combine real-time image data generated by the cameras with calculated or pre-stored data representing expected operating positions of the supports, to generate images from these combined data in which the expected operating positions of the supports are visualized by visual markings.
  • the visual markings are generated directly within the images to be rendered on the visual display.
  • the visual markings are permanent markings on the screen of the visual display.
  • the markings are not calculated or generated from pre-stored data but represent lines, dots or any other kind of marking that is fixed on the screen onto which the image is projected electronically.
  • control unit is also provided to recognize objects within the visual field of the camera.
  • control unit is provided to mark the objects recognized within the visual field of the camera by means of visual markings. This facilitates the recognition of the recognized objects, especially in situations with bad visibility.
  • control unit is provided to calculate the distances between the recognized objects within the visual field of the camera and the expected operating position of the outrigger, the present operating position of the support and/or the portion of the vehicle body, and to visualize the calculated distances within the image.
  • the aerial apparatus is turnable around a vertical turning axis, and the control unit is provided for operating the visual display to visualize the position of the turning axis. This facilitates the maneuvering of the vehicle into a position that is optimal for operating the aerial apparatus.
  • each camera is fixed at the vehicle body in an elevated position above its allocated support with a downwardly tilted viewing angle.
  • the corresponding image generated by the camera will be a perspective view onto the ground, showing the operation position of the support from above.
  • the visual display is located within the driver's cabin of the vehicle.
  • the invention is further related to a method for positioning a utility vehicle, in particular a firefighting vehicle that comprises an aerial apparatus like a turnable ladder and/or an aerial rescue platform and lateral ground supports that are movable between retracted positions and extracted operating positions in which the ends of the supports rest on the ground, characterized by the steps of monitoring the ground area on which the end of the support rests in its operating position by means of a surveillance camera that is allocated to this support, and displaying the images of all cameras by means of a visual display at the same time in different screen areas, superimposed by visual markings representing expected operating positions of the supports.
  • a utility vehicle in particular a firefighting vehicle that comprises an aerial apparatus like a turnable ladder and/or an aerial rescue platform and lateral ground supports that are movable between retracted positions and extracted operating positions in which the ends of the supports rest on the ground, characterized by the steps of monitoring the ground area on which the end of the support rests in its operating position by means of a surveillance camera that is allocated to this support, and displaying the images of
  • a preferred embodiment of this method is characterized by combining real-time image data generated by the cameras with calculated or pre-stored data representing expected operating positions of the supports, and generating images from these combined data in which the expected operating positions of the supports are visualized by visual markings.
  • FIG. 1 is a perspective view of a firefighting vehicle as one embodiment of a utility vehicle according to the present invention
  • FIG. 2 is a schematic view of the monitoring system of the utility vehicle of claim 1 ;
  • FIG. 3 is a schematic view of a screen display as one feature to the monitoring system of the utility vehicle of claim 1 .
  • the firefighting vehicle 10 in FIG. 1 is one example of a utility vehicle according to the present invention.
  • the firefighting vehicle is equipped with a turnable ladder 12 on its top that is turnable around a vertical axis A and comprises a number of ladder segments that are slidably supported on each other so that the ladder 12 is extractable. If this extraction of the turnable ladder 12 is performed in a position where the ladder 12 is swiveled in lateral direction, i.e. in a right angle from the non-use position shown in FIG. 1 , the weight of the ladder acts to tilt the vehicle body 14 around its horizontal longitudinal axis. To support the vehicle 10 safely on the ground, it is therefore necessary to provide an additional support means at the sides of the vehicle.
  • Ground supports 16 are provided at the sides of the vehicle body 14 .
  • These supports 16 comprise bars 18 that extend in mainly horizontal direction from the lower part of the vehicle body 14 in the lateral direction, i.e. rectangular to the driving direction. These bars 18 are extractable so that the supports 16 are movable between retracted positions, in which the outriggers 16 are positioned under the vehicle body 14 so that they do not protrude in a lateral direction from the vehicle, and extracted operation positions, as shown in FIG. 1 , in which the ends 20 of the supports 16 rest on the ground in a distance from the respective sides from the vehicle 10 .
  • the contact to the ground is achieved by tilting the support 16 slightly downward, as in the present embodiment of the vehicle 10 , or by any other suitable mechanism.
  • a very common construction of supports 16 comprises jacks at their ends that have lower contact surfaces that can be pressed onto the ground in the operating position.
  • the present invention is not limited to any construction but can refer to any suitable supporting mechanism of the supports 16 .
  • the firefighting vehicle 10 which is equipped with a monitoring system. It comprises surveillance cameras at the side of the vehicle 10 .
  • there are four supports 16 namely two supports 16 at each side of the vehicle arranged in a distance, and there are also four surveillance cameras 22 , each camera 22 being allocated to one supports 16 .
  • the respective camera 22 is fixed at the vehicle body 14 in an elevated position above its allocated supports 16 , and its viewing angle is provided such that it comprises the ground area 24 on which the end 20 of the support 16 rests in its operating position.
  • the viewing angle of the cameras 22 is slightly tilted in a downward direction to provide a perspective view from above to the ground area 24 for positioning the end 20 of the support 18 .
  • Each camera is provided to generate a set of real time image data, representing a present image of the respective ground area 24 .
  • each camera 22 takes a real time image of the ground area 24 .
  • the monitoring system further comprises a control unit 26 shown schematically in FIG. 2 , which further shows other components of the monitoring system 28 , namely the cameras 22 and a visual display 30 for showing images 32 corresponding to the image data of the cameras 22 that are processed by the control unit 26 .
  • the control unit 26 From each set of image data provided by one camera 22 , corresponding to a picture of the monitored ground area 24 in the visual field of the camera, the control unit 26 generates an image 32 .
  • the image 32 does not show the ground area 24 alone but also the expected operating positions of the outriggers 16 as visual markings 34 .
  • These markings 34 can be rendered from pre-stored data representing expected operating positions of the supports, or from calculated data representing these expected operating positions.
  • the control unit 26 is provided to combine the real-time image data generated by the cameras 22 with the calculated or pre-stored data related to the expected operating positions of the supports 16 to generate images 32 from these combined data in which the expected operating positions of the supports 16 are visualized by visual markings 34 , superposed to the image of the ground area 24 .
  • Another option is to fix the visual markings 34 permanently to the screen of the visual display 30 and to render the electronic image 32 by means of the display 30 so that both the image 32 and the permanent markings 34 are superposed.
  • the expected operating positions of the supports 16 can be related to the present position of the vehicle 10 on the ground to anticipate a possible collision of the supports 16 with an obstacle within the ground area 24 , or to judge the ground conditions so as to avoid the placement of the end 20 of the support 16 onto a soft ground.
  • the visual markings 34 enable the operator, for example the driver of the vehicle 10 to anticipate the operating position of the outrigger 16 before the support 16 reaches this position, before extracting the support 16 from its retracted position, to avoid a collision or any other mistake in placing the support 16 .
  • FIG. 3 is an exemplary screenshot of the visual display as one example
  • the whole screen area 34 is divided in four parts of equal height and width.
  • the upper left area 38 shows the image 32 corresponding to the front left camera 22 above the front left support 16 of the vehicle 10
  • the upper right area 40 corresponds to the front right camera 22
  • the bottom left area 42 corresponds to the front left camera 22
  • the remaining bottom right area 44 corresponds to the rear right camera 22 .
  • the visual markings 34 showing the expected operating positions of the supports 16 and are also shown in the respective images in the areas 38 , 40 , 42 , 44 . When the outrigger finally reaches its extracted operating position, this will correspond to the visual marking 34 .
  • the actual picture of the outrigger 16 moving into the visual field of the camera 22 will be apparent in the image 32 captured by the camera 22 .
  • objects within the visual field of the camera i.e. obstacles in the ground area 24 will also be visible in this picture 32 .
  • a plant pot within the ground area 24 one which the end 20 of the front left support 16 is supported is shown in the image 32 of the screen area 38 .
  • the operator will then be able to estimate whether there will be a collision of the support 16 with the object 46 by estimating the distance between the end of the visual marking 34 and the object 46 . This estimation may be supported by marking also the object 46 by a corresponding visual marking.
  • the distance between the end of the visual marking 34 of the support 16 and the object 46 can be calculated by the control unit 26 and visualized by fading in the calculated distance within the image. It is also possible to calculate other distances by means of the control unit 26 , for example, the distance between the object 46 and the vehicle body 14 and/or the distance between the present operating position of the support 16 and the object 46 (which is to be distinguished from the expected operation position of the support represented by the visual marking 34 ).
  • the ground area 24 includes a soft ground portion that is not suitable for placing the end 20 of the support 16 , this will also be visible in the respective image 32 in case the visual marking 34 of the expected operating position of the support 16 and the unsuitable ground area portion overlap.
  • the portion of lawn 48 is shown that is captured by the camera 22 on the rear left side of the vehicle 10 .
  • This lawn portion 48 overlaps with end of the visual marking 34 , which means that there will be a positioning error which must be corrected by the driver of the vehicle 10 by maneuvering the vehicle 10 .
  • Other unsuitable areas may be man hole covers of the sewer network, drain pits or the like.
  • the cameras 22 are provided with infrared sensors to provide a good visibility even in a dark environment with poor sight.
  • this axis A is marked on the screen 36 between the left and right bottom screen areas 42 and 44 , showing the position of the vertical axis A with respect to the expected operating positions of the supports 16 . It might also be possible to calculate the distance between the axis A and any obstacles in the environment of the vehicle 10 , for example, the distance to a wall next to the vehicle 10 , and to fade in this distance as a number or any visual marking.
  • all images 32 generated from the real time image data provided by the cameras 22 are shown at the same time in a split screen manner on the visual display.
  • the visual display 30 can be mounted in the driver's cabin 50 ( FIG. 1 ) of the vehicle 10 , so that the driver can watch the visual display 30 with the split screen showing all four images 32 in different areas 38 , 40 , 42 , 44 of the screen area 36 and maneuver the vehicle 10 at the same time.
  • the present invention is not only applicable to firefighting vehicles 10 but also to any other utility vehicles, especially those with an aerial apparatus like a turnable ladder or an aerial platform on top.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
US14/435,888 2012-10-17 2013-10-16 Utility vehicle with monitoring system for monitoring the position of the vehicle Active US9580961B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
EP12188798.8A EP2722302B1 (fr) 2012-10-17 2012-10-17 Véhicule utilitaire avec système de surveillance permettant de surveiller la position des stabilisateurs
EP12188798 2012-10-17
EP12188798.8 2012-10-17
PCT/EP2013/071626 WO2014060476A1 (fr) 2012-10-17 2013-10-16 Véhicule utilitaire ayant un système de surveillance pour surveiller la position du véhicule

Publications (2)

Publication Number Publication Date
US20150330146A1 US20150330146A1 (en) 2015-11-19
US9580961B2 true US9580961B2 (en) 2017-02-28

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US14/435,888 Active US9580961B2 (en) 2012-10-17 2013-10-16 Utility vehicle with monitoring system for monitoring the position of the vehicle

Country Status (8)

Country Link
US (1) US9580961B2 (fr)
EP (1) EP2722302B1 (fr)
JP (1) JP6396912B2 (fr)
CN (1) CN104812694B (fr)
CA (1) CA2888374C (fr)
ES (1) ES2635739T3 (fr)
RU (1) RU2638659C2 (fr)
WO (1) WO2014060476A1 (fr)

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US9677335B2 (en) * 2014-04-01 2017-06-13 Hme, Incorporated Firefighting or rescue apparatus including ladder with status indicators
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CN104269603B (zh) * 2014-09-29 2017-03-22 安徽博微长安电子有限公司 集工作方舱、天线安装平台于一体的工作平台
ES2880711T3 (es) * 2014-12-23 2021-11-25 Iveco Magirus Un vehículo de extinción de incendios que comprende una escalera extraíble y giratoria y soportes laterales extensibles, y un sistema de asistencia visual para colocar dicho vehículo y método para colocar tal vehículo de extinción de incendios
ITUB20160452A1 (it) * 2016-01-19 2017-07-19 Iveco Magirus Sistema per rilevare e segnalare una collisione di una gabbia, mediante supportato video
JP7180966B2 (ja) * 2016-01-29 2022-11-30 マニタウォック クレイン カンパニーズ， エルエルシー 視覚的アウトリガー監視システム
WO2017164781A1 (fr) 2016-03-23 2017-09-28 Cargotec Patenter Ab Ensemble de manipulation de charge
CN105905831A (zh) * 2016-06-24 2016-08-31 济南黄河路桥建设集团有限公司 管道视频检测仪检查井跨越辅助装置
US10829347B2 (en) 2016-11-22 2020-11-10 Manitowoc Crane Companies, Llc Optical detection system for lift crane
DK3333113T3 (da) 2016-12-07 2022-05-02 Hiab Ab Et køretøj, og en fremgangsmåde til et køretøj, herunder målmarkør på et oversigtsbillede
DK3333114T3 (da) 2016-12-07 2022-04-25 Hiab Ab Et køretøj og en fremgangsmåde til et køretøj, med præsentation af begrænsning af den maksimale belastningsradius
WO2018140619A2 (fr) * 2017-01-27 2018-08-02 Oshkosh Corporation Système d'indication de niveau d'engin d'incendie
FR3067341B1 (fr) * 2017-06-12 2019-07-26 Haulotte Group Nacelle elevatrice a placement automatique en position compacte de transport
IT201700076727A1 (it) * 2017-07-07 2019-01-07 Manitou Italia Srl Sistema per stabilizzare macchine operatrici semoventi.
US10456610B1 (en) * 2018-04-23 2019-10-29 Oshkosh Corporation Stability system for a fire apparatus
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JP2016500602A (ja) 2016-01-14
CA2888374A1 (fr) 2014-04-24
EP2722302B1 (fr) 2017-05-24
CN104812694B (zh) 2018-05-08
RU2638659C2 (ru) 2017-12-15
WO2014060476A1 (fr) 2014-04-24
EP2722302A1 (fr) 2014-04-23
CA2888374C (fr) 2020-04-28
US20150330146A1 (en) 2015-11-19
ES2635739T3 (es) 2017-10-04
RU2015118352A (ru) 2016-12-10
JP6396912B2 (ja) 2018-09-26

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